Integrated robot joint speed reducer

Abstract

The utility model relates to an integrated robot joint reducer which comprises a motor and a reduction gear set. The reduction gear set comprises a first-stage planet carrier, a second-stage planet carrier, a first-stage sun gear, a second-stage sun gear, a first-stage planet gear, a second-stage planet gear and an inner gear ring. The first-stage planet gear is rotatably connected to the first-stage planet carrier, and the first-stage sun gear is meshed with the first-stage planet gear; an output shaft of the motor is fixedly connected with a first-stage sun gear and a second-stage sun gear in sequence, and a first-stage planet carrier is arranged between the first-stage sun gear and the second-stage sun gear in a sleeving manner; the second-stage planet gear is rotatably connected to the second-stage planet carrier, and the second-stage sun gear is meshed with the second-stage planet gear; the whole inner gear ring is in a circular tube shape, a first-stage inner gear and a second-stage inner gear are arranged on the inner wall of the inner gear ring respectively, the first-stage planet wheel and the second-stage planet wheel are sleeved with the inner gear ring, and the first-stage inner gear and the second-stage inner gear are meshed with the first-stage planet wheel and the second-stage planet wheel respectively. One end of the inner gear ring is fixedly connected with the motor.

Description

Technical Field

[0001] The utility model relates to the technical field of reducers, and more specifically to an integrated robot joint reducer. Background Art

[0002] The reducer is a relatively precise machine. Its purpose is to reduce the speed and increase the torque. The reducer matches the speed and transmits the torque between the prime mover and the working machine or the actuator. It is widely used in modern machinery. According to the purpose, the reducer can be divided into two categories: general reducer and special reducer. The design, manufacturing and use characteristics of the two are different.

[0003] Speed ​​reducers are widely used, especially in robots; however, the speed reducers currently used in existing robots have complex structures, occupy large volumes, and have high manufacturing costs.

[0004] Chinese patent document: CN216842921 U, announcement date 2022.06.28, discloses an industrial robot RV simplified reducer, including: a planetary carrier, a pinion housing, a double eccentric shaft, a cycloid wheel, a spacer, a bearing, a needle pin and a round end cover connected to the stop of the pinion housing, the planetary carrier includes a main and auxiliary discs, a column pin and a pin sleeve, and the cycloid wheel adopts the best positive equidistance-positive displacement modification. The advantages are: eliminating the influence of the original planetary-level manufacturing accuracy, not only reducing the manufacturing difficulty, but also reducing the cost, and also solving the technical problems of reducer backlash, heat generation and extended service life. However, this technical solution has a complex structure, contains many parts, and has high manufacturing difficulty and manufacturing cost.

[0005] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Utility Model Content

[0006] The utility model aims to provide an integrated robot joint reducer, which has a small size and a simple structure, comprises fewer parts and components, and has a low manufacturing difficulty and manufacturing cost.

[0007] The utility model provides an integrated robot joint reducer, comprising a motor and a reduction gear set; the reduction gear set comprises a primary planet carrier, a secondary planet carrier, a primary sun gear, a secondary sun gear, a primary planet gear, a secondary planet gear and an inner gear ring; the primary planet gear is rotatably connected to the primary planet carrier, and the primary sun gear is meshed with the primary planet gear; the primary sun gear and the secondary sun gear are fixedly connected to the output shaft of the motor in sequence, and the primary planet carrier is sleeved between the primary sun gear and the secondary sun gear; the secondary planet gear is rotatably connected to the secondary planet carrier, and the secondary sun gear is meshed with the secondary planet gear; the inner gear ring is in a circular tubular shape as a whole, and a primary internal gear and a secondary internal gear are respectively provided on the inner wall of the internal gear ring, the internal gear ring is sleeved on the primary planet gear and the secondary planet gear, and the primary internal gear and the secondary internal gear are respectively meshed with the primary planet gear and the secondary planet gear; one end of the internal gear ring is fixedly connected to the motor.

[0008] Furthermore, three of the first-level planetary gears are rotatably connected to the first-level planetary carrier, and the angle between the three first-level planetary gears is 120 degrees; three of the second-level planetary gears are rotatably connected to the second-level planetary carrier, and the angle between the three second-level planetary gears is 120 degrees.

[0009] Furthermore, a fixing opening is provided on the output shaft of the motor, and one end of the primary sun gear is fixedly inserted into the fixing opening.

[0010] The integrated robot joint reducer of the utility model can be used in desktop robots, welding robots, etc.; when the motor rotates, the motor output shaft will drive the primary sun gear to rotate, and transmit the rotation through the primary planetary carrier, the secondary sun gear, the primary planetary gear, the secondary planetary gear, and the inner ring to the secondary planetary carrier, and the secondary planetary carrier will transmit the power to the external device; the motor and the reduction gear set are connected in an integrated design, which is small in size and simple in structure, contains fewer parts, and has low manufacturing difficulty and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic structural diagram of an integrated robot joint reducer provided in an embodiment of the utility model.

[0012] Figure 2 for Figure 1 Schematic diagram of the integrated robot joint reducer.

[0013] Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure of the reduction gear set of the integrated robot joint reducer.

[0014] Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the motor of the integrated robot joint reducer.

[0015] Figure 5 for Figure 1 Schematic diagram of the structure of the inner gear ring of the integrated robot joint reducer.

[0016] Figure 6 for Figure 1 Schematic diagram of the cross-sectional structure of the integrated robot joint reducer.

[0017] The reference numerals and components involved in the drawings are as follows:

[0018] 1. Motor 11, output shaft 12, fixing port

[0019] 3. Reduction gear set 31, primary planet carrier 32, secondary planet carrier

[0020] 33. First-stage sun gear 34. Second-stage sun gear 35. First-stage planetary gear

[0021] 36, secondary planetary gear 37, internal gear ring 371, primary internal gear

[0022] 372, Secondary internal gear DETAILED DESCRIPTION

[0023] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] The terms "first", "second", "third", "fourth" and the like in the specification and claims of the present utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0025] Example 1

[0026] Figure 1 This is a schematic diagram of the structure of the integrated robot joint reducer provided in the embodiment of the utility model. Figure 2 for Figure 1 The plan view of the integrated robot joint reducer. Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure of the reduction gear set of the integrated robot joint reducer. Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the motor of the integrated robot joint reducer. Figure 5 for Figure 1 Schematic diagram of the structure of the inner gear ring of the integrated robot joint reducer. Figure 6 for Figure 1Schematic diagram of the cross-sectional structure of the integrated robot joint reducer. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 The robot joint reducer provided by the embodiment of the utility model includes a motor 1 and a reduction gear set 3; the reduction gear set 3 includes a primary planet carrier 31, a secondary planet carrier 32, a primary sun gear 33, a secondary sun gear 34, a primary planet gear 35, a secondary planet gear 36 and an inner ring gear 37; the primary planet gear 35 is rotatably connected to the primary planet carrier 31, and the primary sun gear 33 is meshed with the primary planet gear 35; the primary sun gear 33 and the secondary sun gear 34 are fixedly connected to the output shaft 11 of the motor 1 in sequence, and ... 4; the secondary planetary gear 36 is rotatably connected to the secondary planetary gear 32, and the secondary sun gear 34 is meshed with the secondary planetary gear 36; the inner gear ring 37 is in a circular tube shape as a whole, and the inner wall of the inner gear ring 37 is respectively provided with a primary internal gear 371 and a secondary internal gear 372, and the inner gear ring 37 is sleeved on the primary planetary gear 35 and the secondary planetary gear 36, and the primary internal gear 371 and the secondary internal gear 372 are respectively meshed with the primary planetary gear 35 and the secondary planetary gear 36; one end of the inner gear ring 37 is fixedly connected to the motor 1. Specifically, a fixing port 12 is provided on the output shaft 11 of the motor 1, and one end of the primary sun gear 33 is fixedly inserted into the fixing port 12.

[0027] It should be noted that the integrated robot joint reducer of the utility model can be used in desktop robots, welding robots, etc.; when the motor 1 rotates, the output shaft 11 of the motor 1 will drive the primary sun gear 33 to rotate, and the rotation will be transmitted to the secondary planetary carrier 32 through the primary planetary carrier 31, the secondary sun gear 34, the primary planetary gear 35, the secondary planetary gear 36, and the inner ring gear 37, and the secondary planetary carrier 32 will transmit the power to the external equipment.

[0028] The integrated robot joint reducer of the utility model has an integrated design in which the motor 1 and the reduction gear set 3 are connected, has a small size and a simple structure, contains fewer parts, and has a low manufacturing difficulty and cost.

[0029] Furthermore, three of the first-stage planetary gears 35 are rotatably connected to the first-stage planetary carrier 31, and the angle between the three first-stage planetary gears 35 is 120 degrees; three of the second-stage planetary gears 36 are rotatably connected to the second-stage planetary carrier 32, and the angle between the three second-stage planetary gears 36 is 120 degrees.

[0030] It should be noted that the design of the three primary planetary gears 35 and the secondary planetary gear 36 improves the stability of the gear transmission.

[0031] Based on the above description, it can be seen that the advantages of the utility model are:

[0032] The integrated robot joint reducer of the utility model can be used in desktop robots, welding robots, etc.; when the motor 1 rotates, the output shaft 11 of the motor 1 will drive the primary sun gear 33 to rotate, and the rotation will be transmitted to the secondary planetary carrier 32 through the primary planetary carrier 31, the secondary sun gear 34, the primary planetary gear 35, the secondary planetary gear 36, and the inner ring 37, and the secondary planetary carrier 32 will transmit the power to the external device; the motor 1 and the reduction gear set 3 are connected in an integrated design, with a small size and simple structure, fewer parts, and low manufacturing difficulty and cost.

[0033] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. An integrated robot joint reducer, characterized in that: It comprises a motor (1) and a reduction gear set (3); the reduction gear set (3) comprises a primary planet carrier (31), a secondary planet carrier (32), a primary sun gear (33), a secondary sun gear (34), a primary planet gear (35), a secondary planet gear (36) and an inner ring gear (37); The first-stage planetary gear (35) is rotatably connected to the first-stage planet carrier (31), and the first-stage sun gear (33) is meshed with the first-stage planetary gear (35); the first-stage sun gear (33) and the second-stage sun gear (34) are fixedly connected in sequence to the output shaft (11) of the motor (1); A primary planet carrier (31) is sleeved between the primary sun gear (33) and the secondary sun gear (34); the secondary planet gear (36) is rotatably connected to the secondary planet carrier (32), and the secondary sun gear (34) and the secondary planet gear (36) are meshed; The inner gear ring (37) is in the shape of a circular tube as a whole. A primary internal gear (371) and a secondary internal gear (372) are respectively provided on the inner wall of the inner gear ring (37). The inner gear ring (37) is sleeved on the primary planetary gear (35) and the secondary planetary gear (36). The primary internal gear (371) and the secondary internal gear (372) are respectively meshed with the primary planetary gear (35) and the secondary planetary gear (36). One end of the inner gear ring (37) is fixedly connected to the motor (1).

2. The integrated robot joint reducer according to claim 1, characterized in that: Three first-stage planetary gears (35) are rotatably connected to the first-stage planetary carrier (31), and the included angle between the three first-stage planetary gears (35) is 120 degrees; Three secondary planetary gears (36) are rotatably connected to the secondary planetary carrier (32), and the included angle between the three secondary planetary gears (36) is 120 degrees.

3. The integrated robot joint reducer according to claim 2, characterized in that: The output shaft (11) of the motor (1) is provided with a fixing opening (12), and one end of the primary sun gear (33) is fixedly inserted into the fixing opening (12).

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